Marine electric power steering autopilot system

ABSTRACT

A control system for a marine vessel includes an autopilot system and a power steering system. The autopilot system is arranged to receive a first signal indicative of navigation information and output a second signal indicative of a steering action. The power steering system is in communication with the autopilot system and is arranged to pivot or turn at least one of a rudder and a propulsion unit based on the second signal.

CROSS-REFERENCES TO RELATED APPLICATIONS

This patent application claims priority to U.S. Provisional Patent Application Ser. No. 62/540,240, filed Aug. 2, 2017, which is incorporated herein by reference in its entirety.

BACKGROUND

Marine vessels may be provided with an autopilot system that permits automated steering of the vessel without human input. The autopilot system may require an additional apparatus to connect the autopilot system to an existing marine vessel steering system.

Accordingly, it is desirable to eliminate the additional apparatus connection and simplify the integration of an autopilot system with a marine vessel steering system.

SUMMARY

Disclosed is a control system for a marine vessel that includes an autopilot system and a power steering system. The autopilot system is arranged to receive a first signal indicative of navigation information and output a second signal indicative of a steering action. The power steering system is in communication with the autopilot system and is arranged to pivot or turn at least one of a rudder and a propulsion unit based on the second signal.

Also disclosed is a control system for a marine vessel that includes an autopilot system and a power steering system. The autopilot system includes a processor arranged to receive a first signal indicative of navigation information from at least one of a GPS module and a nomadic device and is arranged to provide a second signal indicative of a steering action based on the first signal. The power steering system includes a steering assist unit and a controller. The steering assist unit is operatively connected to at least one of a rudder and a propulsion unit. The controller is arranged to receive the second signal and is programmed to command the steering assist unit to move at least one of the rudder and the propulsion unit based on the second signal.

These and other advantages and features will become more apparent from the following description taken in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter of the present disclosure is particularly pointed out and distinctly claimed in the claims at the conclusion of the specification. The foregoing and other features, and advantages of the present disclosure are apparent from the following detailed description taken in conjunction with the accompanying drawings in which:

The FIGURE is a schematic representation of a system for controlling a marine vessel.

DETAILED DESCRIPTION

Referring now to the FIGURE, where the present disclosure will be described with reference to specific embodiments, without limiting the same, it is to be understood that the disclosed embodiments are merely illustrative of the present disclosure that may be embodied in various and alternative forms. The Figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present disclosure.

Referring to the FIGURE, a control system 10 for a marine vessel is schematically illustrated. The control system 10 includes a power steering system 20 and an autopilot system 22.

The power steering system 20 is operatively connected to a rudder and/or a propulsion unit 30 such as an outboard motor. The power steering system 20 is arranged to pivot, turn, or manipulate the rudder and/or the propulsion unit 30 to steer the marine vessel responsive to an input provided by an operator of the marine vessel or a control signal provided by the autopilot system 22.

The operator of the marine vessel may provide an input to the power steering system 20 through a steering wheel 40 to steer the marine vessel. The input may be communicated or transmitted mechanically, wirelessly, or through a wired connection to a steering assist unit 42 provided with the power steering system 20 that then moves the rudder/propulsion unit 30 based on the input.

In the embodiment shown, the operator input provided to the steering wheel 40 is electronically communicated through a power steering controller 44. A steering sensor 46 is in communication with at least one of the steering wheel 40 and a steering shaft that is associated with the steering wheel 40. The steering sensor 46 is arranged to provide a signal indicative of a rotational position, angular position, input force, or input torque applied to at least one of the steering wheel and the steering shaft associated with the steering wheel 40 to the power steering controller 44. The power steering controller 44 is arranged to receive the signal and provide commands or signals to the steering assist unit 42 to move the rudder and/or propulsion unit 30.

The steering assist unit 42 may be a column electric power steering (CEPS) unit, a rack electric power steering (REPS) unit, a combination thereof, or the like. Should the steering assist unit 42 be arranged as a CEPS unit, the steering assist unit 42 may be directly coupled to a steering shaft that is associated with the steering wheel 40. Should the steering assist unit 42 be arranged as a REPS unit, the steering assist unit 42 may be coupled to or disposed proximate the rudder and/or the propulsion unit 30.

The steering assist unit 42 includes an assist mechanism that is arranged to apply a force to the rudder and/or the propulsion unit 30, based on the signal from the steering sensor 46 and/or the autopilot system 22, to move the rudder and/or the propulsion unit 30.

The assist mechanism may include a hydraulic pressure transducer that is in communication with the power steering controller 44. The hydraulic pressure transducer is operatively connected to at least one of a hydraulic pressure line and a hydraulic return line. The hydraulic pressure line and the hydraulic return line are operatively connected to an actuator cylinder, a push rod, or the like that is operatively connected to a steering linkage/rack and pinion steering system that is connected to the rudder/propulsion unit 30.

The assist mechanism may include an electric drive motor that is connected to the rudder/propulsion unit 30 through a gearing system. The electric drive motor that includes a plurality of electrical leads such as an electrical supply line, an electrical return line, and other input lines that are in communication with the power steering controller 44. The electric drive motor is arranged to pivot or drive the rudder/propulsion unit 30.

The assist mechanism may include a mechanical unit that is connected to the rudder/propulsion unit 30 through a push-pull cable assembly. The mechanical unit may be a hydraulic system, an electrical system, or an electrohydraulic system that is arranged to move the cable assembly to pivot, turn, or otherwise move the rudder/propulsion unit 30.

In at least one embodiment, an actuator 48 is connected to or disposed about a steering shaft associated with the steering wheel 40. The actuator 48 is arranged to provide an input to the steering wheel 40. The actuator 48 may be arranged to provide an adjustable level of feedback torque to the steering shaft associated with the steering wheel 40. The actuator 48 is communication with the power steering controller 44 and is arranged to rotate or counter rotate the steering wheel 40 responsive to the steering or guidance of the marine vessel by the autopilot system 22 causing the rudder/propulsion unit 30 to move. Should the autopilot system 22 cause the rudder/propulsion unit 30 to move to guide the marine vessel towards the port-side (e.g. left) the power steering controller 44 is programmed to command the actuator 48 to rotate the steering wheel 40 towards the port-side or left side responsive to movement of the rudder/propulsion unit 30. Should the autopilot system 22 cause the rudder/propulsion unit 30 to move to guide the marine vessel towards the starboard-side (e.g. right) the power steering controller 44 is programmed to command the actuator 48 to rotate the steering wheel 40 towards the starboard-side or right side responsive to movement of the rudder/propulsion unit 30.

The autopilot system 22 is arranged to provide signals or inputs to the steering assist unit 42 of the power steering system 20 to pivot or turn or otherwise move the rudder and/or the propulsion unit 30 to steer or guide the marine vessel to a desired location. The autopilot system 22 is arranged to enable the marine vessel to operate as a semi-autonomous or autonomous marine vessel capable of navigation or guidance independent of the steering wheel 40 or without engagement of the steering wheel 40 by an operator of the marine vessel. The autopilot system 22 is arranged to steer or navigate the marine vessel along a path and streamline correction for set and drift, based on information provided by a GPS module 50 or a nomadic device 52.

The autopilot system 22 is arranged to receive a first signal indicative of navigation information from the GPS module 50 or nomadic device 52 and is arranged to output a second signal indicative of a steering action based on the first signal to the steering assist unit 42 of the power steering system 20. The first signal may be provided by the GPS module 50 or a nomadic device 52. The GPS module 50 may be a global positioning system (GPS) that is provided with the marine vessel or a GPS device. The nomadic device 52 may be a cellular phone or other handheld/portable device having GPS capabilities that is in communication with the autopilot system 22. The nomadic device 52 may be provided with a guidance/mapping/routing application. The GPS module 50 or the nomadic device 52 may also be a compatible National Marine Electronics Association (NMEA) 0183, NMEA 2000 device or the like.

The GPS module 50 or the nomadic device 52 enables an operator of the marine vessel to input an operator selected destination, an operator selected bearing, an operator selected route, an operator selected waypoint, or multiple operator selected waypoints. The GPS module 50 or the nomadic device 52 may be connected to or interface with the autopilot system 22 and the autopilot system 22 is arranged to use data, information, messages, or signals provided by the GPS module 50 or the nomadic device 52 to operate the power steering system 20 to guide the marine vessel. The operation of the power steering system 20 may be done independent of throttle or propulsion control such that the speed of the marine vessel may continue to be manually controlled by the operator of the marine vessel. In at least one embodiment, the autopilot system 22 is arranged to affect the speed of the marine vessel based on the maneuver to be performed by the marine vessel responsive to operation of the power steering system 20. For example, the autopilot system 22 may increase or decrease marine vessel speed to execute various steering maneuvers.

The first signal may be a standardized NMEA message or data/information that contains navigation information that may be sent to the power steering system 20, via the autopilot system 22, to guide the marine vessel. The standardized NMEA message includes sentences that are transmitted from the GPS module 50 or the nomadic device 52 using communication, such as serial communications, wireless communications (e.g. Bluetooth, near field communication). The GPS module 50 or the nomadic device 52 passes the message to a converter 60, such as an RS-232 to TTL converter, and ultimately to a processor of a control unit 70 of the autopilot system 22.

The control unit 70 includes the processor 80 and in some embodiments, the power steering controller 44. The processor 80 may be a microprocessor that is arranged to analyze or interpret messages received through the converter 60 from the GPS module 50 or the nomadic device 52. The conversion from RS-232 to TTL by the converter 60 converts the message into a format that may be analyzed by the processor 80.

The processor 80 is arranged to or programmed to run a processing code that may parse the messages provided by the GPS module 50 or the nomadic device 52. The processor 80 gathers useful information from the recommended current information (RMC) and recommended navigation (RMB) NMEA sentences from the message. The processor 80 is arranged to or programmed to output the second signal indicative of the steering action and pass the second signal to the power steering controller 44, which in turn operates the power steering system 20 to perform the steering action.

The processor 80 may also receive and use information such as the marine vessel speed, the marine vessel course over ground, a bearing to destination, or cross track error value to determine the desired steering action associated with the second signal. The processor 80 may be regulated by a controller, such as a proportional integral derivative controller, and may send the desired steering action or desired position messages to the power steering controller 44 that is associated with the power steering system 20. In at least one embodiment, the controller that may regulate or contain the processor 80 may be provided with or may be a part of the power steering controller 44.

The power steering system 20 may then move, actuate, turn, pivot, or change a position of the rudder/propulsion unit 30 based on the second signal. The power steering controller 44 may provide signals or commands to the actuator 48 to move, rotate, or turn the steering wheel 40 based on the second signal. The rotation of the steering wheel 40 by the actuator 48 may be comparable to or proportionate to the amount of movement or rotation of the rudder/propulsion unit 30. In at least one embodiment, the actuator 48 may be arranged to pulse the steering wheel 40 towards the direction of steering or guidance of the marine vessel.

An operator of the marine vessel may override the autopilot system 22 by operating the steering wheel 40 or deactivating the autopilot system 22 by turning off a switch, button, or the like. Should an operator of the marine vessel provide an operator input such as an angular or rotational displacement of the steering wheel 40 greater than a threshold displacement while the autopilot system 22 is on and guiding the marine vessel, the power steering controller 44 may command the actuator 48 to provide haptic feedback or impart angular rotation to the steering wheel 40 within a predetermined range of angular rotation, to indicate that directional control is being handed over to the operator of the marine vessel. In at least one embodiment, the power steering controller 44 may output for display an indicator indicative of the hand-over to the operator. The indicator may be an auditory indicator, a haptic indicator, or a visual indicator via the GPS module 50, a display interface of the GPS module 50, a display interface of a nomadic device 52 in communication with the autopilot system 22, or a display interface of the marine vessel.

Should an operator of the marine vessel provide an operator input to the steering wheel 40 that is less than the threshold displacement while the autopilot system 22 is on and guiding the marine vessel, the autopilot system 22 may continue to provide guidance to the marine vessel. In at least one embodiment, responsive to an operator input to the steering wheel 40 less than the threshold displacement, the power steering controller 44 may command the actuator 48 to impart an angular bi-directional rotation or pivot to the steering wheel 40 within a predetermined range of angular rotation to indicate lack of hand over of directional control to the operator.

While the present disclosure has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the present disclosure is not limited to such disclosed embodiments. Rather, the present disclosure can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the scope of the present disclosure. Additionally, while various embodiments of the present disclosure have been described, it is to be understood that aspects of the present disclosure may include only some of the described embodiments or combinations of the various embodiments. Accordingly, the present disclosure is not to be seen as limited by the foregoing description. 

What is claimed is:
 1. A control system for a marine vessel, comprising: an autopilot system arranged to receive a first signal indicative of navigation information and output a second signal indicative of a steering action; and a power steering system in communication with the autopilot system and is arranged to pivot or turn at least one of a rudder and a propulsion unit based on the second signal.
 2. The control system of claim 1, wherein the first signal is provided by at least one of a GPS module and a nomadic device.
 3. The control system of claim 2, wherein the first signal is based on an operator selected destination, an operator selected bearing, an operator selected route, or an operator selected waypoint.
 4. The control system of claim 1, wherein the first signal is a standardized NMEA message.
 5. The control system of claim 4, wherein the autopilot system, comprising: a converter that is arranged to receive the first signal; and a processor arranged to provide the second signal.
 6. The control system of claim 5, wherein the converter is a RS-232 to TTL converter.
 7. The control system of claim 1, wherein the second signal is based on at least one of a marine vessel speed, a marine vessel course over ground, a bearing to destination, a cross track error value, and the first signal.
 8. A control system for a marine vessel, comprising: an autopilot system, comprising: a processor arranged to receive a first signal indicative of navigation information from at least one of a GPS module and a nomadic device and is arranged to provide a second signal indicative of a steering action based on the first signal; and a power steering system, comprising: a steering assist unit that is operatively connected to at least one of a rudder and a propulsion unit, and a controller arranged to receive the second signal, the controller being programmed to command the steering assist unit to move at least one of the rudder and the propulsion unit based on the second signal.
 9. The control system of claim 8, further comprising: an actuator in communication with the controller and is arranged to provide an input to a steering shaft associated with a steering wheel.
 10. The control system of claim 9, wherein the controller is further programmed to command the actuator to rotate the steering wheel responsive to movement of at least one of the rudder and the propulsion unit.
 11. A control system for a marine vessel, comprising: an autopilot system arranged to selectively autonomously control the marine vessel, comprising: a processor arranged to receive a first signal indicative of navigation information from at least one of a GPS module and a nomadic device and is arranged to provide a second signal indicative of a steering action based on the first signal; and a power steering system, comprising: a steering assist unit that is operatively connected to at least one of a rudder and a propulsion unit, and a controller arranged to receive the second signal, the controller being programmed to command the steering assist unit to move at least one of the rudder and the propulsion unit based on the second signal.
 12. The control system of claim 11, further comprising: an actuator in communication with the controller and is arranged to provide an input to a steering shaft associated with a steering wheel.
 13. The control system of claim 12, wherein responsive to an operator input to the steering wheel greater than a threshold, while the autopilot system is guiding the marine vessel, the controller is programmed to command the actuator to provide haptic feedback to the steering wheel.
 14. The control system of claim 12, wherein responsive to an operator input to the steering wheel greater than a threshold, while the autopilot system is guiding the marine vessel, the controller is programmed to command the actuator to impart angular rotation to the steering within a predetermined range of angular rotation.
 15. The control system of claim 12, wherein responsive to an operator input to the steering wheel greater than a threshold, while the autopilot system is guiding the marine vessel, the controller is programmed to output for display an indicator.
 16. The control system of claim 12, wherein responsive to an operator input to the steering wheel less than a threshold, while the autopilot system is guiding the marine vessel, the controller is programmed to command the actuator to impart an angular bi-directional rotation or pivot to the steering wheel within a predetermined range of angular rotation. 